A Navy commander who was taken into custody by Iran with 10 other American sailors on Tuesday — and who appeared on a video apologizing for straying into Iranian waters — graduated from the U.S. Naval Academy in 2011, academy officials confirmed.

Lt. David Nartker, 27, and his fleet were detained after at least one of their vessels experienced mechanical problems near Farsi Island in the Persian Gulf, the AP reported. They were released Wednesday, less than a day after they were captured.

In a video that aired on Iranian TV, Nartker appears to express regret that two vessels sailed into Iranian territory.

"It was a mistake. That was our fault and we apologize for our mistake," Nartker said in the video. "It was a misunderstanding. We did not mean to go into Iranian territorial water. The Iranian behavior was fantastic while we were here. We thank you very much for your hospitality and your assistance."

The sailor's mother, Darlene Nartker, confirmed to TheCapital that it was her son in the video. The Navy did not say it was Nartker in the video, the Chicago Tribune reported, but the Navy did confirm Thursday he is a boat captain of a Riverine Command Boat in the Gulf.

Iranian television broadcasts video of one of the 10 U.S. sailors held overnight by Iran after entering Iranian waters by mistake apologizing for the incident. Jan. 13, 2016. (Reuters)

Iranian television broadcasts video of one of the 10 U.S. sailors held overnight by Iran after entering Iranian waters by mistake apologizing for the incident. Jan. 13, 2016. (Reuters)

Nartker has been criticized for the apology, with some alleging he violated the military Code of Conduct. Article IV of the Code states: "When questioned, should I become a prisoner of war, I am required to give name, rank, service number and date of birth. I will evade answering further questions to the utmost of my ability. I will make no oral or written statements disloyal to my country and its allies or harmful to their cause."

Vice President Joe Biden told "CBS This Morning" the U.S. government did not issue an apology.

(Tribune wire reports)

"There's nothing to apologize for," Biden said. "When you have a problem with the boat, you apologize the boat had a problem? No, and there was no looking for any apology. This was just standard nautical practice."

The U.S. Central Command said: "The video appears to be authentic, but we cannot speak to the conditions of the situation or what the crew was experiencing at the time." It said the crew was undergoing "the redintegration process and we will continue to investigate this incident."

Iran's Revolutionary Guard released photos of the U.S. sailors before their release, showing them sitting on the floor of a room, the Tribune reported. The female sailor's hair was covered by a brown cloth.

State TV later released more video and photos of the Americans apparently surrendering on their knees, their hands behind their head, Tribune reported.

"After determining that their entry into Iran's territorial waters was not intentional, and their apology, the detained American sailors were released in international waters," the Guard said.

Nartker studied aerospace engineering while at the Naval Academy. Cmdr. John Schofield, an Academy spokesman, said that specialized fleet training, such as that regarding capture, depends on fleet warfare designations.

"Training for those specific designations does not take place at commissioning accession sources like the Naval Academy," he said. "The Naval Academy trains and educates all of its students morally, mentally and physically to become officers of character and consequence."

Darlene Nartker said her son always wanted to be in the Navy.

"He's very proud of the United States and believes that the country needs to be defended by people who really care," she said.

David Nartker grew up in Naperville, Illinois and excelled at private Catholic schools before his Naval Academy acceptance, his mother said.

"He takes responsibility very seriously," she said. "That's always been a characteristic of him."

U.S. Secretary of State John Kerry credited his personal relationship with Iranian Foreign Minister Mohammad Javad Zarif in easing the tension and said the result shows the "critical role diplomacy plays in keeping our country secure and strong."

Zarif tweeted Wednesday: "Happy to see dialog (sic) and respect, not threats and impetuousness, swiftly resolved the #sailors episode. Let's learn from this latest example."